trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config Struct Reference

#include <dimensional_smooth_pid.hpp>

Public Member Functions
	Config (double p, double i, double d, double maxIntegralAccumulation, double maxOutput, double errorDerivativeFloor, double errorDeadzone=0.0, double tQDerivativeKalman=1.0, double tRDerivativeKalman=0.0, tRProportionalKalman=1.0)

Public Attributes
PUnit	p
IUnit	i
DUnit	d
IntegralAccumulationUnit	maxIntegralAccumulation
ControlUnit	maxOutput
ErrorUnit	errorDerivativeFloor
ErrorUnit	errorDeadzone = ErrorUnit{0.0}
float	tQDerivativeKalman = 1.0f
float	tRDerivativeKalman = 0.0f
float	tQProportionalKalman = 1.0f
float	tRProportionalKalman = 0.0f

Detailed Description

template<typename RawControlUnit, typename RawErrorUnit, typename RawTimeUnit>
struct trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config

p - proportional constant i - integral constant d - derivative constant maxIntegralAccumulation - clamps integral maxOutput - maximum output errorDerivativeFloor - minimum error for the derivative to kick in errorDeadzone - within [-errorDeadzone, and errorDeadzone], the error will be considered 0.

Constructor & Destructor Documentation

Config()

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::Config ( double  p, double  i, double  d, double  maxIntegralAccumulation, double  maxOutput, double  errorDerivativeFloor, double  errorDeadzone = 0.0, double  tQDerivativeKalman = 1.0, double  tRDerivativeKalman = 0.0, tRProportionalKalman  = 1.0  )

inline

Mercy constructor

Member Data Documentation

d

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

DUnit trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::d

errorDeadzone

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

ErrorUnit trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::errorDeadzone = ErrorUnit{0.0}

errorDerivativeFloor

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

ErrorUnit trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::errorDerivativeFloor

i

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

IUnit trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::i

maxIntegralAccumulation

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

IntegralAccumulationUnit trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::maxIntegralAccumulation

maxOutput

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

ControlUnit trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::maxOutput

p

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

PUnit trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::p

tQDerivativeKalman

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

float trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::tQDerivativeKalman = 1.0f

tQProportionalKalman

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

float trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::tQProportionalKalman = 1.0f

tRDerivativeKalman

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

float trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::tRDerivativeKalman = 0.0f

tRProportionalKalman

template<typename RawControlUnit , typename RawErrorUnit , typename RawTimeUnit >

float trap::algorithms::DimensionalSmoothPid< RawControlUnit, RawErrorUnit, RawTimeUnit >::Config::tRProportionalKalman = 0.0f

---

The documentation for this struct was generated from the following file:

• fang-mcb-project/src/wrap/trap/algorithms/dimensional_smooth_pid.hpp